version: 66.08
glider: 502
mission: 3
dive: 394
start: 12 29 110 6 40 9
data:
$ID,502
$MISSION,3
$DIVE,394
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30637.984
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,291210,063406,-7632.125,17824.857,29,1.5,29,120.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.3
$GPS2,291210,063944,-7632.143,17825.057,13,1.5,13,120.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA2
$TGT_LATLONG,-7630.000,18000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,287.4,41239,-17.5,-10.000
$D_GRID,375
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,98,0.00,0.00,-79.47,0.000,2,0.000,0.000,422,2665,3188,0,0,0,0,0,0
$GC,101,-0.76,-146.0,3.1,-0.9,12,130,8.93,1.85,-11.75,0.000,4,0.200,0.080,2800,3754,3560,0,0,0,0,0,0
$GC,376,-0.76,-146.0,51.0,-17.6,60,384,0.00,1.75,0.00,0.000,6,0.000,0.042,2800,2654,3563,0,0,0,0,0,0
$GC,519,-0.76,-146.0,75.1,-16.7,85,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2653,3563,0,0,0,0,0,0
$GC,660,-0.76,-146.0,99.1,-16.7,110,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2653,3563,0,0,0,0,0,0
$GC,796,-0.76,-146.0,121.6,-16.7,123,800,0.00,1.80,0.00,0.000,4,0.000,0.062,2791,3760,3564,0,0,0,0,0,0
$GC,833,-0.76,-146.0,128.7,-17.5,126,843,0.00,1.75,0.00,0.000,6,0.000,0.042,2791,2656,3563,0,0,0,0,0,0
$GC,971,-0.76,-146.0,150.8,-16.8,139,975,0.00,1.80,0.00,0.000,4,0.000,0.061,2784,3762,3564,0,0,0,0,0,0
$GC,997,-0.76,-146.0,156.4,-17.7,141,1007,0.08,1.73,0.00,0.000,6,0.142,0.041,2809,2673,3564,0,0,0,0,0,0
$GC,1133,-0.76,-146.0,176.5,-15.1,154,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2671,3564,0,0,0,0,0,0
$GC,1261,-0.76,-146.0,195.1,-14.2,166,1264,0.00,1.75,0.00,0.000,4,0.000,0.060,2802,3754,3564,0,0,0,0,0,0
$GC,1287,-0.76,-146.0,199.7,-15.3,168,1296,0.00,1.73,0.00,0.000,6,0.000,0.041,2802,2671,3564,0,0,0,0,0,0
$GC,1423,-0.76,-146.0,219.6,-15.4,181,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2670,3564,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,239.0,-15.4,193,1555,0.00,1.75,0.00,0.000,4,0.000,0.060,2794,3755,3564,0,0,0,0,0,0
$GC,1597,-0.76,-146.0,246.7,-17.0,197,1601,0.00,1.67,0.00,0.000,6,0.000,0.042,2794,2676,3564,0,0,0,0,0,0
$GC,1738,-0.76,-146.0,268.9,-15.6,210,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2673,3564,0,0,0,0,0,0
$STATE,1873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1873,begin apogee
$GC,1879,-0.27,0.0,290.7,15.8,223,2018,0.55,0.00,129.57,0.977,4,0.132,0.000,2970,2491,2959,0,0,0,0,0,0
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2020,0.76,146.0,298.5,0.0,235,2179,1.08,2.47,145.68,0.913,4,0.080,0.049,3309,1099,2364,0,0,0,0,0,0
$GC,2340,0.76,146.0,270.3,11.0,263,2348,0.00,2.40,0.00,0.000,6,0.000,0.050,3309,2490,2354,0,0,0,0,0,0
$GC,2540,0.76,146.0,248.2,11.4,282,2544,0.00,2.22,0.00,0.000,4,0.000,0.048,3315,1097,2351,0,0,0,0,0,0
$GC,2660,0.76,146.0,235.0,11.0,292,2668,0.00,2.33,0.00,0.000,6,0.000,0.053,3315,2510,2349,0,0,0,0,0,0
$GC,2795,0.76,146.0,220.1,11.3,305,2799,0.00,2.00,0.00,0.000,4,0.000,0.057,3315,3766,2349,0,0,0,0,0,0
$GC,2864,0.76,146.0,211.5,13.2,311,2868,0.00,1.92,0.00,0.000,6,0.000,0.040,3324,2532,2348,0,0,0,0,0,0
$GC,3007,0.76,146.0,194.6,11.7,324,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2529,2348,0,0,0,0,0,0
$GC,3142,0.76,146.0,178.4,11.9,337,3145,0.00,1.98,0.00,0.000,4,0.000,0.057,3324,3762,2347,0,0,0,0,0,0
$GC,3199,0.76,146.0,170.8,14.3,342,3202,0.00,1.92,0.00,0.000,6,0.000,0.040,3334,2518,2347,0,0,0,0,0,0
$GC,3341,0.76,146.0,152.9,12.1,355,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2516,2347,0,0,0,0,0,0
$GC,3467,0.76,146.0,137.3,12.4,367,3471,0.00,2.00,0.00,0.000,4,0.000,0.057,3334,3762,2347,0,0,0,0,0,0
$GC,3526,0.76,146.0,128.6,14.3,372,3535,0.08,1.95,0.00,0.000,6,0.143,0.040,3317,2535,2347,0,0,0,0,0,0
$GC,3662,0.76,146.0,113.2,11.3,385,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2534,2347,0,0,0,0,0,0
$GC,3789,0.76,146.0,98.7,11.3,397,3795,0.00,2.00,0.00,0.000,4,0.000,0.056,3317,3768,2347,0,0,0,0,0,0
$GC,3830,0.76,146.0,93.2,13.2,404,3838,0.00,1.95,0.00,0.000,6,0.000,0.041,3324,2539,2347,0,0,0,0,0,0
$GC,3976,0.76,146.0,75.5,12.5,429,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2539,2347,0,0,0,0,0,0
$GC,4116,0.76,146.0,58.3,12.3,454,4125,0.00,2.00,0.00,0.000,4,0.000,0.057,3324,3756,2346,0,0,0,0,0,0
$GC,4176,0.76,146.0,50.3,13.6,464,4184,0.00,1.90,0.00,0.000,6,0.000,0.041,3333,2554,2346,0,0,0,0,0,0
$GC,4322,0.76,146.0,32.7,11.7,489,4329,0.00,2.00,0.00,0.000,4,0.000,0.058,3333,3765,2346,0,0,0,0,0,0
$GC,4352,0.76,146.0,28.4,13.0,494,4362,0.08,1.90,0.00,0.000,6,0.141,0.040,3316,2560,2346,0,0,0,0,0,0
$GC,4500,0.76,146.0,11.9,10.9,519,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2560,2346,0,0,0,0,0,0
$FREEZE,8.41,-0.772,-1.889,2,1,0
$FREEZE,7.91,-0.762,-1.889,2,1,0
$FREEZE,7.23,-0.754,-1.889,2,1,0
$FREEZE,6.71,-0.745,-1.889,2,1,0
$FREEZE,6.01,-0.735,-1.888,2,1,0
$FREEZE,5.35,-0.725,-1.888,2,1,0
$FREEZE,4.72,-0.714,-1.887,2,1,0
$FREEZE,4.08,-0.707,-1.887,2,1,0
$FREEZE,3.35,-0.685,-1.886,2,1,0
$FREEZE,2.83,-0.674,-1.886,2,1,0
$STATE,4581,end climb,SURFACE_DEPTH_REACHED
$STATE,4581,begin surface coast
$FREEZE,2.14,-0.589,-1.885,2,1,0
$FREEZE,1.44,-0.578,-1.884,2,1,0
$FREEZE,1.20,-0.768,-0.807,2,1,0
$FREEZE,1.22,-0.713,-0.847,2,1,0
$FREEZE,1.23,-0.733,-0.838,2,1,0
$FINISH,1.2,1.012351
$STATE,4614,end surface coast,CONTROL_FINISHED_OK
$STATE,4614,begin surface
$SM_CCo,4631,80.47,0.728,1,0,1736,300.24
$SM_GC,2.03,0.00,0.00,80.47,0.000,0.000,0.728,423,2665,1736,-8.26,0.42,300.24
$IRIDIUM_FIX,-7545.40,17827.61,291210,050529
$TT8_MAMPS,0.028462
$HUMID,52.83
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,250.5,54.4
$24V_AH,20.3,64.199
$10V_AH,9.7,42.994
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.300,50.950,275.250,80.475,0.000,29.312,36.678,165.339,1.000,0.000,14.398,1359.849,1443.509,463.377,1634.343,162.850,0.000,1036.685,0.000,902.125,0.000,7.193,0.000
$DEVICE_MAMPS,200.430,84.150,976.905,728.280,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.158,757.211,923.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,37118,538
$CAP_FILE_SIZE,76357,0
$CFSIZE,260165632,229781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.212,117.0,1
$GPS,291210,075938,-7632.074,17828.867,14,1.4,14,120.4